Apparatus and method for continuous launching of unmanned aerial vehicles

ABSTRACT

An apparatus and method for continuous catapulting of unmanned aerial vehicles are disclosed, and relate to the technical field of aircraft catapulting and recovery. The apparatus consists of an unmanned aerial vehicle storage apparatus, an unmanned aerial vehicle conveying apparatus, an automatic unmanned aerial vehicle loading apparatus, tackles and a rotary tube-type multi-track unmanned aerial vehicle catapult. The present invention can increase catapulting efficiency of the unmanned aerial vehicles, and is suitable for rapidly forming a cluster of the unmanned aerial vehicles.

TECHNICAL FIELD

The present invention relates to the technical field of aircraftcatapulting and recovery, and more particularly relates to an apparatusand method for continuous catapulting of unmanned aerial vehicles.

BACKGROUND ART

Unmanned aerial vehicle cluster operation is a trend of future unmannedaerial vehicle applications, and the main content of the unmanned aerialvehicle cluster operation is to integrate various functional loads intoan unmanned aerial vehicle cluster formation by using a reasonablemethod. When a single unmanned aerial vehicle platform is damaged,clusters can still execute tasks in an orderly manner. This flexibilitycan increase task execution efficiency and reduce development time andcost of unmanned aerial vehicle systems.

To achieve unmanned aerial vehicle clustering, it is necessary to ensurethat unmanned aerial vehicles can be put into a combat environment in atimely and effective manner, that is, to realize continuous batchcatapulting of a certain number of unmanned aerial vehicles. Traditionalsmall and medium-sized unmanned aerial vehicle catapulting usuallyadopts elastic band catapulting, pneumatic-hydraulic catapulting androcket-assisted catapulting. The rocket-assisted catapulting willgenerate a lot of light and heat, which is not conducive to concealment,and the pneumatic-hydraulic catapulting requires an external set ofpneumatic-hydraulic power system, which reduces portability of a systemto a certain extent. In addition, recharging time of an energy storageapparatus is too long, and it is difficult to achieve the continuouscatapulting of the unmanned aerial vehicles.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide an apparatus and method forcontinuous catapulting of unmanned aerial vehicles. For problems in acontinuous batch catapulting technology of the unmanned aerial vehiclesdescribed in the related art, a continuous catapulting solution of theunmanned aerial vehicles is provided. A traditional elastic bandcatapult cooperates with one set of rotary tube mechanism and one set ofautomatic unmanned aerial vehicle storage and loading mechanism, therebysaving time for resetting catapult tackles and increasing catapultingefficiency of the unmanned aerial vehicles.

In order to achieve the foregoing objectives, the embodiments of thepresent invention adopt the following technical solutions:

The apparatus consists of an unmanned aerial vehicle storage apparatus(1), an unmanned aerial vehicle conveying apparatus (2), an automaticunmanned aerial vehicle loading apparatus (3), tackles (4) and a rotarytube-type multi-track unmanned aerial vehicle catapult (5).

The unmanned aerial vehicle storage apparatus (1) is configured to storeunmanned aerial vehicles (6). The unmanned aerial vehicle conveyingapparatus (2) is inserted into the unmanned aerial vehicle storageapparatus (1). The unmanned aerial vehicle conveying apparatus (2) issymmetrically arranged along a central axis of the unmanned aerialvehicle storage apparatus (1).

The automatic unmanned aerial vehicle loading apparatus (3) isconfigured to transfer the unmanned aerial vehicles (6) from theunmanned aerial vehicle conveying apparatus (2) to the tackles (4).

The rotary tube-type multi-track unmanned aerial vehicle catapult (5) isprovided with at least three catapults (5.3). Each catapult (5.3) isbutted with one tackle (4) and is configured to provide the tackle (4)with a driving force during catapulting.

The tackles (4) are mounted on catapult tracks. An upper portion of atackle body includes carrier structures (4.2) and unmanned aerialvehicle locking mechanisms on carriers. A rear portion of the carrierincludes a rear limiting mechanism (4.3), and the rear limitingmechanism consists of a limiting baffle plate (4.3.1) driven through agear and a rack, a limiting slot (4.3.2) and a reset spring (4.3.3). Amiddle portion of the carrier includes a front limiting mechanism (4.4),and the front limiting mechanism consists of a limiting hook (4.4.1)connected with the carrier structure through a rotating shaft, a movablestop piece (4.4.2) for lifting the limiting hook, and a reset spring(4.4.3). The rotary tube-type multi-track unmanned aerial vehiclecatapult (5) includes a rotating shaft mechanism (5.1) for controllingthe catapult to rotate and a driving apparatus (5.2) thereof, at leastthree elastic band catapults (5.3) uniformly distributed on the rotatingshaft mechanism, tackle locking apparatuses (5.4) mounted at start endsof the catapults, winches (5.5) for controlling the tackles to be resetand external power supplies thereof, and buffer apparatuses (5.6)mounted at tail ends of the catapults. Since the plurality of catapultsperform alternate catapulting through rotation, the time for resettingthe catapult tackles is saved, alternate continuous catapulting of theunmanned aerial vehicles is achieved, and the catapulting efficiency ofthe unmanned aerial vehicles is increased.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate technical solutions in embodimentsof the present invention, accompanying drawings required for use in theembodiments will be briefly introduced below. Obviously, theaccompanying drawings in the following description are only someembodiments of the present invention, and those of ordinary skill in theart may obtain other accompanying drawings according to the accompanyingdrawings without any creative effort.

FIG. 1 is a schematic structural diagram of an automatic unmanned aerialvehicle loading and storage mechanism.

FIG. 2 is a schematic structural diagram of a rotary tube-type unmannedaerial vehicle continuous batch catapulting mechanism.

FIG. 3 is a schematic overall structural diagram of an apparatus forcontinuous catapulting of unmanned aerial vehicles.

FIG. 4 is a schematic structural diagram of a start end of a conveyingapparatus.

FIG. 5 is an enlarged diagram of A in FIG. 4.

FIG. 6 is a schematic structural diagram of a tail end of the conveyingapparatus.

FIG. 7 is an enlarged diagram of B in FIG. 6.

FIG. 8 is a schematic diagram of a locked state of an unmanned aerialvehicle locking mechanism.

FIG. 9 is a schematic diagram of a reset state of the unmanned aerialvehicle locking mechanism.

FIG. 10 is a schematic diagram of a tackle locking apparatus.

FIG. 11 is a schematic diagram of an unlocked state of the tacklelocking apparatus.

Numerals in the drawings respectively denote:

1: unmanned aerial vehicle storage apparatus; 1.1: structural framework;1.2: entrance aisle panel; 1.3: supporting mechanism; 1.4: nose landinggear lifting mechanism; 1.5: main landing gear limiting mechanism;

2: unmanned aerial vehicle conveying apparatus; 2.1: conveying chain;2.2: conveying chain driving apparatus; 2.3: clamping slot; 2.4: hook;2.5: limiting wheel; 2.6: hook limiting track; 2.7: hook adjustment stoppiece;

3: automatic unmanned aerial vehicle loading apparatus; 3.1: mainlanding gear supporting plate; 3.2: contact block; 3.3: wing supportingplate; 3.4: wing front limiting plate; 3.5: wing rear limiting plate;3.6: height and angle adjustment mechanism;

4: tackle; 4.1: tackle body; 4.2: carrier structure; 4.3: rear limitingmechanism; 4.3.1: limiting baffle plate; 4.3.2: limiting slot; 4.3.3:reset spring; 4.4: front limiting mechanism; 4.4.1: limiting hook;4.4.2: movable stop piece; 4.4.3: reset spring; 4.4.4: rotating shaft;4.5: lock hole;

5: rotary tube-type multi-track unmanned aerial vehicle catapult; 5.1:rotating shaft mechanism; 5.2: rotating shaft driving apparatus; 5.3:catapult; 5.4: tackle locking apparatus; 5.4.1: contact plate; 5.4.2:lock catch; 5.4.3: reset spring; 5.5: winch; 5.6: buffer apparatus;

6: unmanned aerial vehicle; 6.1: unmanned aerial vehicle lifting hook;6.2: unmanned aerial vehicle protruding feature; 6.3: unmanned aerialvehicle hook; and 6.4: unmanned aerial vehicle limiting barrier strip.

DETAILED DESCRIPTION OF THE INVENTION

In order to make those skilled in the art better understand technicalsolutions of the present invention, the present invention is furtherdescribed in detail below with reference to the accompanying drawingsand specific implementation manners. Implementation manners of thepresent invention are described in detail below, and examples of theimplementation manners are illustrated in the accompanying drawings. Thesame or similar numerals indicate the same or similar elements orelements having the same or similar functions throughout. Theimplementation manners described below with reference to theaccompanying drawings are exemplary, and are only intended to beillustrative of the present invention and not to be construed aslimiting the present invention. Those skilled in the art can understandthat, unless specifically stated otherwise, the singular forms “a”,“an”, “said” and “the” may also include plural forms. It should befurther understood that the wording “include” used in the description ofthe present invention refers to the presence of the features, integers,steps, operations, elements and/or components, but does not exclude thepresence or addition of one or more other features, integers, steps,operations, elements, components and/or their groups. It should beunderstood that when an element is referred to as being “connected” or“coupled” to another element, it can be directly connected or coupled tothe other elements or intermediate elements may also exist. Furthermore,“connected” or “coupled” as used herein may include wireless connectionor coupling. As used herein, the wording “and/or” includes any unit andall combinations of one or more of the associated listed items. Thoseskilled in the art can understand that, unless otherwise defined, allthe terms (including technical terms and scientific terms) used hereinhave the same meanings as commonly understood by those of ordinary skillin the art to which the present invention belongs. It should further beunderstood that terms such as those defined in a general dictionaryshould be understood to have meanings consistent with the meanings inthe context of the prior art, and unless specifically defined like this,they would not be idealized or explained by too formal meanings.

Embodiments of the present invention provide an apparatus for continuouscatapulting of unmanned aerial vehicles. As shown in FIG. 3, theapparatus consists of an unmanned aerial vehicle storage apparatus (1),an unmanned aerial vehicle conveying apparatus (2), an automaticunmanned aerial vehicle loading apparatus (3), tackles (4) and a rotarytube-type multi-track unmanned aerial vehicle catapult (5).

The unmanned aerial vehicle storage apparatus (1) is configured to storethe unmanned aerial vehicles (6). The unmanned aerial vehicle conveyingapparatus (2) is inserted into the unmanned aerial vehicle storageapparatus (1). The unmanned aerial vehicle conveying apparatus (2) issymmetrically arranged along a central axis of the unmanned aerialvehicle storage apparatus (1).

The automatic unmanned aerial vehicle loading apparatus (3) isconfigured to transfer the unmanned aerial vehicles (6) from theunmanned aerial vehicle conveying apparatus (2) to the tackles (4).

The rotary tube-type multi-track unmanned aerial vehicle catapult (5) isprovided with at least three catapults (5.3). Each catapult (5.3) isbutted with one tackle (4) and is configured to provide the tackle (4)with a driving force during catapulting.

Specifically as shown in FIG. 1, the unmanned aerial vehicle storageapparatus (1) consists of a structural framework (1.1), an unmannedaerial vehicle entrance aisle panel (1.2), a supporting mechanism (1.3),an unmanned aerial vehicle nose landing gear lifting mechanism (1.4) anda main landing gear limiting mechanism (1.5).

The unmanned aerial vehicle (6) gets into the unmanned aerial vehiclestorage apparatus (1) through the entrance aisle panel (1.2), and thesupporting mechanism (1.3) adjusts a height and inclination angle of theunmanned aerial vehicle (6) for getting into the unmanned aerial vehiclestorage apparatus (1).

The unmanned aerial vehicle (6) adjusts an angle during butting of theunmanned aerial vehicle (6) and the unmanned aerial vehicle conveyingapparatus (2) through the main landing gear limiting mechanism (1.5) andthe nose landing gear lifting mechanism (1.4).

Specifically as shown in FIG. 4, FIG. 5 and FIG. 7, the unmanned aerialvehicle conveying apparatus (2) consists of a conveying chain (2.1), aconveying chain driving apparatus (2.2), hooks (2.4), a hook limitingtrack (2.6) and a hook adjustment stop piece (2.7).

The conveying chain (2.1) and the driving apparatus (2.2) of theconveying chain (2.1) are mounted on the structural framework (1.1) ofthe unmanned aerial vehicle storage apparatus. The hooks (2.4) aremounted in clamping slots (2.3) of various single sections of theconveying chain (2.1). Limiting wheels (2.5) are mounted at top portionsof the hooks (2.4). Limiting wheels (2.5) are placed in the hooklimiting track (2.6). The hook limiting track (2.6) is parallel to theconveying chain (2.1). The hook adjustment stop piece (2.7) is mountedin the hook limiting track (2.6). The hook adjustment stop piece (2.7)is close to a tail end of the conveying chain (2.1).

The hook limiting track (2.6) is configured to adjust putting-down andretraction of the hooks (2.4) according to a distance between the trackand the conveying chain (2.1). The hook adjustment stop piece (2.7) isconfigured to control a shape of the hook limiting track (2.6) at a tailend position of the conveying chain (2.1), so as to control separationof the hooks (2.4) from the unmanned aerial vehicle (6).

Specifically as shown in FIG. 6 and FIG. 7, the automatic unmannedaerial vehicle loading apparatus (3) consists of main landing gearsupporting plates (3.1), wing supporting plates (3.3), wing frontlimiting plates (3.4), wing rear limiting plates (3.5) and height andangle adjustment mechanisms (3.6).

The main landing gear supporting plates (3.1) are connected with thestructural framework (1.1) of the unmanned aerial vehicle storageapparatus through a rotating mechanism. Contact blocks (3.2) forunlocking the tackles (4) are arranged below the main landing gearsupporting plates (3.1). The wing supporting plates (3.3) are connectedwith the main landing gear supporting plates (3.1) through the heightand angle adjustment mechanisms (3.6). The wing front limiting plates(3.4) are connected to front sides of the wing supporting plates (3.3).The wing rear limiting plates (3.5) are connected to rear sides of thewing supporting plates (3.3).

Specifically, as shown in FIG. 2, FIG. 8 and FIG. 9, the tackle (4)consists of a tackle body (4.1), carrier structures (4.2), rear limitingmechanisms (4.3) and front limiting mechanisms (4.4).

The tackle body (4.1) is mounted on the catapult (5.3). A lock hole(4.5) butted with a locking apparatus (5.4) is formed in a rear portionof the tackle body (4.1), and the carrier structures (4.2) are mountedat an upper portion of the tackle body (4.1).

The rear limiting mechanisms (4.3) consist of limiting baffle plates(4.3.1) driven by gears and racks, limiting slots (4.3.2) and resetsprings (4.3.3).

The rear limiting mechanisms (4.3) are mounted at the rear portions ofthe carrier structures (4.2).

The front limiting mechanisms (4.4) consist of limiting hooks (4.4.1)connected with the carrier structures through rotating shafts, movablestop pieces (4.4.2) for lifting the limiting hooks, and reset springs(4.4.3).

The front limiting mechanisms (4.4) are mounted at middle portions ofthe carrier structures (4.2).

Specifically as shown in FIG. 2, FIG. 10 and FIG. 11, the rotarytube-type multi-track unmanned aerial vehicle catapult (5) consists of arotating shaft mechanism (5.1), a rotating shaft driving apparatus(5.2), the catapults (5.3), tackle locking apparatuses (5.4), resetwinches (5.5) and tackle buffer apparatuses (5.6).

All the catapults (5.3) are uniformly distributed on the rotating shaftmechanism (5.1), and are driven to rotate by the driving apparatus(5.2). The tackle locking apparatuses (5.4) are mounted at start ends ofthe catapults (5.3). The tackle locking apparatuses (5.4) consist oflocking structure main bodies provided with contact plates (5.4.1) andlock catches (5.4.2), and reset springs (5.4.3). The reset winches (5.5)are mounted at the start ends of the catapults (5.3), and are connectedwith the tackle bodies (4.1) through ropes. The tackle bufferapparatuses (5.6) are mounted at tail ends of the catapults (5.3), andare configured to stop motion of the tackles (4).

Further, as shown in FIG. 8, the unmanned aerial vehicle (6) is afolding unmanned aerial vehicle.

Lifting hooks (6.1) butted with the hooks (2.4) of the conveying chainare mounted at the leading edges of wings of the unmanned aerial vehicle(6).

Protruding features (6.2) butted with rear limiting mechanisms (4.3),and hooks (6.3) butted with front limiting mechanisms (4.4) are mountedon lower aerofoils of the wings of the unmanned aerial vehicle (6).

Limiting barrier strips (6.4) matched with wing supporting plates (3.3)of the automatic unmanned aerial vehicle loading apparatus are alsomounted on the lower aerofoils of the wings of the unmanned aerialvehicle (6).

The embodiments of the present invention provide a method for continuouscatapulting of unmanned aerial vehicles. The method includes:

butting and separation of the unmanned aerial vehicle (6) and a unmannedaerial vehicle conveying apparatus (2) are realized through thecooperation of a conveying chain (2.1), hooks (2.4) and a hook limitingtrack (2.6).

An automatic unmanned aerial vehicle loading apparatus (3) conveys andbutts the unmanned aerial vehicle (6) to carrier structures (4.2) of atackle (4) through rotation a certain angle to realize loading of theunmanned aerial vehicle (6).

A catapult of a rotary tube-type multi-track unmanned aerial vehiclecatapult (5) catapults the unmanned aerial vehicle (6), and then isautomatically reset.

Specifically, a butting and separation process of the unmanned aerialvehicle (6) and the unmanned aerial vehicle conveying apparatus (2)includes:

The hook limiting track (2.6) controls the hooks (2.4) to extend out andbe put down a certain distance near a start end of the conveying chainin a moving process along with the conveying chain according to adistance between the hook limiting track (2.6) and the conveying chain(2.1), and then to rise up and be retracted gradually so as tofacilitate butting of the hooks (2.4) and lifting hooks (6.1) at leadingedges of wings of the unmanned aerial vehicle to lift the wings of theunmanned aerial vehicle.

When the hooks (2.4) hooked with the unmanned aerial vehicle (6) moveclose to a hook adjustment stop piece (2.7) on the hook limiting trackalong with the conveying chain, the hook adjustment stop piece (2.7)rises up, and thus continuous motion of the hooks (2.4) enables theirlimiting wheels (2.5) to move onto the risen hook adjustment stop piece(2.7). By this time, the conveying chain stops moving, and the loweraerofoils of the wings of the unmanned aerial vehicle (6) are just incontact with wing supporting plates (3.3) of the automatic unmannedaerial vehicle loading apparatus, and are flush with the wing supportingplates (3.3) through limiting barrier strips (6.4). Later, wing frontlimiting plates (3.4) and rear limiting plates (3.5) rotatably rise upto clamp the wings, and the hook adjustment stop piece (2.7) is quicklyput down after completion of clamping to enable the hooks (2.4) liftedthereon to drop down vertically and be separated from the unmannedaerial vehicle lifting hooks (6.1).

When the hooks (2.4) without the unmanned aerial vehicle (6) are closeto the hook adjustment stop piece (2.7), the hook adjustment stop piece(2.7) does not rise up, so that the hooks directly move along with theconveying chain (2.1) and drop down vertically.

Specifically, a loading process of the unmanned aerial vehicle (6)includes:

Protruding features (6.2) on the lower aerofoils of the wings of theunmanned aerial vehicle (6) are in contact with limiting slots (4.3.2)of rear limiting mechanisms (4.3), and press down the limiting slot(4.3.2) and a reset spring (4.3.3) below the limiting slot (4.3.2) todrive racks to move downwards, so that gears matched with the racksstart to rotate to drive limiting baffle plates (4.3.1) to rise up.

When the protruding features (6.2) press down the limiting slots (4.3.2)to be in contact with upper surfaces of the carrier structures (4.2),the limiting baffle plates (4.3.1) rise up to be in contact with rearsurfaces of the protruding features (6.2).

Hooks (6.3) on the lower aerofoils of the wings of the unmanned aerialvehicle (6) are in contact with limiting hooks (4.4.1) of front limitingmechanisms (4.4), so that the limiting hooks (4.4.1) rotate downwardsalong rotating shafts (4.4.4), and press down movable stop pieces(4.4.2) and the reset springs (4.4.3) below the limiting hooks (4.4.1).When the movable stop pieces (4.4.2) are pressed down till elasticforces generated by the reset springs (4.4.3) are balanced with pressureon the limiting hooks (4.4.1), which is generated by gravity of theunmanned aerial vehicle (6), movable stop pieces (4.4.2) are not incontact with surfaces of the carrier structures (4.2), but by this time,the limiting hooks (4.4.1) and the movable stop pieces (4.4.2) cannot becontinuously pressed down only by the gravity of the unmanned aerialvehicle.

After the unmanned aerial vehicle (6) completes butting with the tackle(4), the wing front limiting plates (3.4) and the rear limiting plates(3.5) of the automatic unmanned aerial vehicle loading apparatus (3)counter-rotate respectively to release the wings and be reset, andlater, the automatic unmanned aerial vehicle loading apparatus (3)rotates downwards to be separated from the unmanned aerial vehicle (6).

Specifically, a process of catapulting, by the catapult of the rotarytube-type multi-track unmanned aerial vehicle catapult (5), the unmannedaerial vehicle (6), and then automatically resetting the catapultincludes:

After the unmanned aerial vehicle (6) on the carrier structures (4.2)spreads, and an engine has a sufficient thrust, the automatic unmannedaerial vehicle loading apparatus (3) then rotates downwards till contactblocks (3.2) below the main landing gear supporting plates (3.1) are incontact with and press down contact plates (5.4.1) of a tackle lockingapparatus (5.4), so that a lock catch (5.4.2) is separated from a lockhole (4.5) in a tackle body of the tackle (4), and the tackle (4) isreleased.

After the unmanned aerial vehicle (6) is completely separated from thecarrier structures (4.2), the automatic loading apparatus (3)counter-rotates to be reset, and then a rotating shaft driving apparatus(5.2) is started to drive a rotating shaft mechanism (5.1) to rotate, sothat a catapult (5.3) completing catapulting is deviated from acatapulting position at a top portion, and another reset catapult (5.3)is conveyed into the catapulting position.

The rear limiting mechanisms (4.3) and the front limiting mechanisms(4.4) on the tackle (4) are reset, and the tackle (4) is locked again.After the other reset catapult (5.3) is conveyed into the catapultingposition, the conveying chain (2.1) is started again to convey the nextunmanned aerial vehicle (6) onto the automatic unmanned aerial vehicleloading apparatus (3).

Traditional small and medium-sized unmanned aerial vehicle catapultingusually adopts elastic band catapulting, pneumatic-hydraulic catapultingand rocket-assisted catapulting. The rocket-assisted catapulting willgenerate a lot of light and heat, which is not conducive to concealment,and the pneumatic-hydraulic catapulting requires an external set ofpneumatic-hydraulic power system, which reduces portability of a systemto a certain extent. In addition, recharging time of an energy storageapparatus is too long, and it is difficult to achieve the continuouscatapulting of the unmanned aerial vehicles. Therefore, the prior arthas the following problems:

1. The rocket-assisted catapulting would generate a lot of light andheat, which is not conducive to concealment.

2. The pneumatic-hydraulic catapulting requires an external set ofpneumatic-hydraulic power system, which reduces portability of a systemto a certain extent.

3. Recharging time of an energy storage apparatus is too long, and it isdifficult to achieve the continuous catapulting of the unmanned aerialvehicles.

4. In an existing unmanned aerial vehicle catapulting apparatus, aconnection and locking process of the unmanned aerial vehicles and thecatapult tackles is complex in operation. At least two persons areneeded to complete butting and locking of the unmanned aerial vehiclesand the tackles. The process is tedious, takes a relatively long time,occupies supernumerary and prolongs a catapulting period.

The technical solutions of the present embodiment include the unmannedaerial vehicle storage apparatus, the unmanned aerial vehicle conveyingapparatus, the automatic unmanned aerial vehicle loading apparatus, thetackle and unmanned aerial vehicle locking mechanism and the rotarytube-type multi-track unmanned aerial vehicle catapult. A workingprinciple of the continuous catapulting of the unmanned aerial vehiclesis specifically described in combination with the apparatus for thecontinuous catapulting of the unmanned aerial vehicles.

After the folded unmanned aerial vehicle 6 gets into the unmanned aerialvehicle storage apparatus 1 through the entrance aisle panel 1.2, themain landing gear limiting mechanism 1.5 rises up to limit the unmannedaerial vehicle to move backwards, and the nose landing gear liftingmechanism 1.4 rises up to lift the unmanned aerial vehicle to enable theunmanned aerial vehicle to rise up an angle by taking a main landinggear as a shaft. Meanwhile, the conveying chain driving apparatus 2.2 isstarted to drive the conveying chain 2.1 and the hooks 2.4 to move. Thehooks 2.4 are mounted in the clamping slots 2.3 of the various singlesections of the conveying chain, and the limiting wheels 2.5 on thehooks are arranged in the hook limiting track 2.6. The hooks 2.4 arecontrolled to rise, drop, extend and retract according to distancechanges between the hook limiting track 2.6 and the conveying chain 2.1.If a distance is relatively long, the hooks 2.4 rise up to be retracted,or the hooks 2.4 are put down. The hooks 2.4 at the start end of theconveying chain are put down and extend out a certain distance at firstto hook the lifting hooks 6.1 at the leading edges of the wings of theunmanned aerial vehicle that has risen up a certain angle. After thebutting is completed, the hooks 2.4 move forwards along with theconveying chain 2.1, and rise up to be retracted along the hook limitingtrack 2.6 at the same time, so that the unmanned aerial vehicle islifted by the lifting hooks 6.1 on the wings on both sides. Meanwhile,the nose landing gear lifting mechanism 1.4 and the main landing gearlimiting mechanism 1.5 drop down to be retracted, so that the unmannedaerial vehicle is conveyed forwards by the conveying chain through thelifting hooks 6.1 on the wings on both sides. When one unmanned aerialvehicle is conveyed forwards a certain distance, the next unmannedaerial vehicle gets into the unmanned aerial vehicle storage apparatus 1again through the entrance aisle panel 1.2. Later, a butting step withthe conveying chain 2.1 is executed again, and the next unmanned aerialvehicle is conveyed forwards till the whole unmanned aerial vehiclestorage apparatus 1 is full of a certain number of unmanned aerialvehicles.

When the unmanned aerial vehicle 6 is conveyed to a tail end of theunmanned aerial vehicle storage apparatus 1, and the limiting wheels 2.5of the hooks reach a position above the hook adjustment stop piece 2.7,the conveying chain 2.1 stops moving. By this time, the main landinggear of the unmanned aerial vehicle is stopped on the main landing gearsupporting plates 3.1 of the automatic unmanned aerial vehicle loadingapparatus 3, and the lower aerofoils of the wings are in contact withthe wing supporting plates 3.3 and are flush with the wing supportingplates 3.3 through the limiting barrier strips 6.4. By this time, thewing rear limiting plates 3.5 rise up to limit the unmanned aerialvehicle 6 to slide backwards, and the wing front limiting plates 3.4rotate inwards a certain angle to lock the leading edges of the wings.After the automatic unmanned aerial vehicle loading apparatus 3completes clamping of the wings, the hook adjustment stop piece 2.7 isput down to enable the lifted hooks 2.4 to drop down vertically and beseparated from the lifting hooks 6.1 at the leading edges of the wingsof the unmanned aerial vehicle 6.

The unmanned aerial vehicle 6 separated from the conveying chain 2.1rotates downwards an angle under the driving of the automatic unmannedaerial vehicle loading apparatus 3, so as to be butted with the unmannedaerial vehicle locking mechanisms of the carrier structures 4.2 of thetackle to realize automatic loading of the unmanned aerial vehicle. Inthis process, the protruding features 6.2 on the lower aerofoils of thewings are in contact with the limiting slots 4.3.2 of the rear limitingmechanisms 4.3 of the carriers, and press down the limiting slots andthe racks and the reset springs 4.3.3 below the limiting slots. Sincethe racks move downwards, the gears matched therewith rotate with theracks to enable the limiting baffle plates 4.3.1 to rise up. When theprotruding features 6.2 below the wings press down the limiting slots4.3.2 to be in contact with the upper surfaces of the carrier structures4.2, the limiting baffle plates 4.3.1 just rise up to be in contact withthe rear surfaces of the protruding features structures 6.2 to completethe butting of the protruding features 6.2 with the rear limitingmechanisms 4.3, which limits the unmanned aerial vehicle 6 to slidebackwards. Meanwhile, the hooks 6.3 on the lower aerofoils of the wingsare in contact with the limiting hooks 4.4.1 of the front limitingmechanisms 4.4 of the carrier structures 4.4, so that the limiting hooksrotate downwards along the rotating shafts 4.4.4, and press down themovable stop pieces 4.4.2 and the reset springs 4.4.3 below the limitinghooks. When the movable stop pieces 4.4.2 are pressed down till theelastic forces generated by the reset springs 4.4.3 are just balancedwith the pressure on the limiting hooks 4.4.1, which is generated by thegravity of the unmanned aerial vehicle 6, the movable stop pieces 4.4.2are not in contact with the surfaces of the carrier structures 4.2, butthe limiting hooks 4.4.1 and the movable stop pieces 4.4.2 cannot becontinuously pressed down only by the gravity of the unmanned aerialvehicle 6, thereby completing cooperation between the hooks 6.3 and thefront limiting mechanisms 4.4 and limiting the unmanned aerial vehicleto move forwards. After cooperation with the unmanned aerial vehiclelocking mechanisms is completed, weight of the unmanned aerial vehicle 6is completely carried by the carrier structures 4.2. By this time, thewing front limiting plates 3.4 and the rear limiting plates 3.5 of theautomatic loading apparatus 3 counter-rotate respectively to spread andbe reset, and later, the automatic unmanned aerial vehicle loadingapparatus 3 rotates downwards an angle to be completely separated fromthe unmanned aerial vehicle 6.

After the unmanned aerial vehicle 6 completes the butting with thetackle 4, it may spread, and the engine is started to prepare forcatapulting. After the unmanned aerial vehicle 6 completely spreads, andthe engine has the sufficient thrust, the automatic unmanned aerialvehicle loading apparatus 3 rotates downwards an angle again to enableits unlocking contact blocks 3.2 to be in contact with and press downthe contact plates 5.4.1 of the tackle locking apparatus 5.4, so thatthe lock catch 5.4.2 leaves the lock hole 4.5 in the tackle body tounlock and release the tackle 4, and the tackle 4 is pulled by the ropeto move forwards in an accelerated manner. When moving to the tail endof the catapult and colliding with the buffer apparatus 5.6, the tackle4 is decelerated rapidly and stops. By this time, the unmanned aerialvehicle uses inertia generated by an existing relatively high speed tothrust aside the limiting hooks 4.4.1 of the front limiting mechanisms4.4 of the carriers to release the unmanned aerial vehicle.

After the unmanned aerial vehicle leaves the carriers, the reset springs4.3.3 of the rear limiting mechanisms 4.3 rebound to drive the limitingslots 4.3.2 connected to the reset springs to be reset and rise up andto drive the limiting plates 4.3.1 to counter-rotate and be put down.The reset springs 4.4.3 of the front limiting mechanisms 4.4 alsorebound to drive the movable stop pieces 4.4.2 and the limiting hooks4.4.1 to rise up again. By this time, the rotating shaft drivingapparatus 5.2 of the catapult is started to drive the whole rotatingshaft to rotate at a certain speed, so that the catapult 5.3 completinga catapulting step is deviated from the catapulting position at the topportion, and another catapult that has prepared for catapulting getsinto the catapulting position to prepare to start the catapulting of thenext unmanned aerial vehicle. After the catapult 5.3 rotates to bedeviated from the catapulting position, the winch 5.5 at the start endof the track is started to pull the tackle 4 to return to the start end.When the tackle is in contact with the lock catch 5.4.2 of the lockingapparatus 5.4 and then continues to move back to press down the lockcatch 5.4.2 and the reset spring 5.4.3 till the lock hole 4.5 reaches aposition above the lock catch 5.4.2, so that the lock catch 5.4.2 getsinto the lock hole 4.5 under pushing of the reset spring 5.4.3, thuslocking the tackle 4 and completing preparation for re-catapulting.After the prepared catapult 5.3 rotates to return to the catapultingposition again, the conveying chain 2.1 is started again to convey thenext unmanned aerial vehicle onto the automatic unmanned aerial vehicleloading apparatus 3, and the steps of automatic loading, spreading,starting of the engine and catapulting are re-executed to achieve thecontinuous batch catapulting of the unmanned aerial vehicles.

Therefore, this solution has at least the following advantages:

Firstly, the automatic unmanned aerial vehicle loading apparatusincludes the main landing gear supporting plates connected with theunmanned aerial vehicle storage apparatus and the unlocking contactblocks below the main landing gear supporting plates, the wingsupporting plates and the wing front and rear limiting plates in frontof and behind the wing supporting plates, and height and angleadjustment mechanisms connected with the main landing gear supportingplates and the wing supporting plates. The tackles are mounted on thecatapult tracks. The upper portion of the tackle body includes thecarrier structure and the unmanned aerial vehicle locking mechanism onthe carrier. The rear portion of the carrier includes the rear limitingmechanism, and the rear limiting mechanism consists of the limitingbaffle plate driven through the gear and the rack, the limiting slot andthe reset spring. The middle portion of the carrier includes the frontlimiting mechanism, and the front limiting mechanism consists of thelimiting hook connected with the carrier structure through the rotatingshaft, the movable stop piece for lifting the limiting hook, and thereset spring. The automatic unmanned aerial vehicle loading apparatusmay clamp the unmanned aerial vehicle, then conveys the unmanned aerialvehicle onto the carrier structures of the tackle through rotation, andreleases and is separated from the unmanned aerial vehicle, so that theunmanned aerial vehicle is automatically butted with the carriers of thetackle and is locked and mounted, labor and time cost required formanual implementation of this process is reduced, and the catapultingefficiency of the unmanned aerial vehicle is favorably increased.

Secondly, the rotary tube-type multi-track unmanned aerial vehiclecatapult includes the rotating shaft mechanism for controlling thecatapult to rotate and the driving apparatus thereof, the at least threeelastic band catapults uniformly distributed on the rotating shaftmechanism, the tackle locking apparatuses mounted at the start ends ofthe catapults, the winches for controlling the tackles to be reset andthe external power supplies thereof, and the buffer apparatuses at thetail ends of the catapults. The plurality of catapults of the rotarytube-type multi-track unmanned aerial vehicle catapult may alternatelycatapult the unmanned aerial vehicles through rotation, thereby savingthe time for resetting the catapult tackles and achieving the alternatecontinuous catapulting of the unmanned aerial vehicles.

Thirdly, the unmanned aerial vehicle storage apparatus is configured tostore the unmanned aerial vehicles. The unmanned aerial vehicleconveying apparatus is inserted into the unmanned aerial vehicle storageapparatus. The unmanned aerial vehicle conveying apparatus issymmetrically arranged along the central axis of the unmanned aerialvehicle storage apparatus. The unmanned aerial vehicle storage apparatusincludes the structural framework, the entrance aisle panel for enablingthe unmanned aerial vehicles to get into, the supporting mechanism foradjusting the height and inclination angle of the apparatus, the mainlanding gear limiting mechanism for adjusting the angles of the unmannedaerial vehicles to enable the unmanned aerial vehicles to be butted withthe conveying apparatus, and the nose landing gear lifting mechanism.The unmanned aerial vehicle conveying apparatus includes the conveyingchain mounted on the structural framework of the unmanned aerial vehiclestorage apparatus and the driving apparatus at the start end, hooksmounted in the clamping slots of the various single sections of theconveying chain and provided with limiting wheels at the top portions,the hook limiting track parallel to the conveying chain and capable ofadjusting the heights of the hooks, and the hook adjustment stop piecelocated at the tail end position of the conveying chain on this trackand configured to control the hooks to be separated from the unmannedaerial vehicles. Through the cooperation between the unmanned aerialvehicle storage apparatus and the unmanned aerial vehicle conveyingapparatus, the butting and separation of the unmanned aerial vehiclesand the unmanned aerial vehicle conveying apparatus, and conveying ofthe unmanned aerial vehicle in the unmanned aerial vehicle storageapparatus may be automatically completed, thereby realizing staggeredstacking of the unmanned aerial vehicles in the unmanned aerial vehiclestorage apparatus. Therefore, more unmanned aerial vehicles may bestored in a limited space, which increases a space utilization rate.After all the unmanned aerial vehicles in one unmanned aerial vehiclestorage apparatus are catapulted, another unmanned aerial vehiclestorage apparatus may be quickly replaced, so that the unmanned aerialvehicle storage apparatus may be made into a modular storage apparatuswhich is convenient for transportation and quick replacement.

Fourthly, the structural features on the unmanned aerial vehicle includethe lifting hooks mounted at the leading edges of the wings of theunmanned aerial vehicle and butted with the hooks of the conveyingchain, the protruding features mounted on the lower aerofoils of thewings and butted with the rear limiting mechanisms of the carriers ofthe tackle, hooks butted with the front limiting mechanisms of thecarriers of the tackle, and limiting barrier strips matched with thewing supporting plates of the automatic unmanned aerial vehicle loadingapparatus. In this way, the existing folding unmanned aerial may beapplied to the apparatus of the present embodiment after it is simplytransformed.

It can be known from the above advantages from one to four thataccording to the solution provided by the present embodiment, thetraditional elastic band catapults cooperate with one set of rotary tubemechanism and one set of automatic unmanned aerial vehicle storage andloading mechanism to achieve modularization of storage of the unmannedaerial vehicles, automatic loading of the unmanned aerial vehicles andmulti-track alternate catapulting, so as to increase the catapultingefficiency of the unmanned aerial vehicles.

The various embodiments in this description are described in aprogressive manner, and mutual reference may be made to the same orsimilar parts between the various embodiments. Each embodiment focuseson differences from other embodiments. In particular, as for theapparatus embodiment, since it is basically similar to the methodembodiment, it is described relatively simple, and for the relevantparts, reference may be made to part of the illustration of the methodembodiment. The above is only the specific implementation manners of thepresent invention, but the scope of protection of the present inventionis not limited thereto. Changes or replacements of which can be easilythought by any person skilled in the art within the technical scopedisclosed by the present invention should be covered by the scope ofprotection of the present invention. Therefore, the scope of protectionof the present invention should be determined by the scope of protectionof the claims.

1. An apparatus for continuous catapulting of unmanned aerial vehicles,wherein the apparatus consists of an unmanned aerial vehicle storageapparatus, an unmanned aerial vehicle conveying apparatus, an automaticunmanned aerial vehicle loading apparatus, tackles and a rotarytube-type multi-track unmanned aerial vehicle catapult; the unmannedaerial vehicle storage apparatus is configured to store the unmannedaerial vehicles; the unmanned aerial vehicle conveying apparatus isinserted into the unmanned aerial vehicle storage apparatus; theunmanned aerial vehicle conveying apparatus is symmetrically arrangedalong a central axis of the unmanned aerial vehicle storage apparatus;the automatic unmanned aerial vehicle loading apparatus is configured totransfer the unmanned aerial vehicles from the unmanned aerial vehicleconveying apparatus to the tackles; the rotary tube-type multi-trackunmanned aerial vehicle catapult is provided with at least threecatapults, and each catapult is butted with one tackle and is configuredto provide the tackle with a driving force during catapulting.
 2. Theapparatus according to claim 1, wherein the unmanned aerial vehiclestorage apparatus consists of a structural framework, an unmanned aerialvehicle entrance aisle panel, a supporting mechanism, an unmanned aerialvehicle nose landing gear lifting mechanism and a main landing gearlimiting mechanism; the unmanned aerial vehicle gets into the unmannedaerial vehicle storage apparatus through the entrance aisle panel, andthe supporting mechanism adjusts a height and inclination angle of theunmanned aerial vehicle for getting into the unmanned aerial vehiclestorage apparatus; the unmanned aerial vehicle adjusts an angle duringbutting of the unmanned aerial vehicle and the unmanned aerial vehicleconveying apparatus through the main landing gear limiting mechanism andthe nose landing gear lifting mechanism.
 3. The apparatus according toclaim 1, wherein the unmanned aerial vehicle conveying apparatusconsists of a conveying chain, a conveying chain driving apparatus,hooks, a hook limiting track and a hook adjustment stop piece; theconveying chain and the driving apparatus of the conveying chain aremounted on the structural framework of the unmanned aerial vehiclestorage apparatus; the hooks are mounted in clamping slots of varioussingle sections of the conveying chain; limiting wheels are mounted attop portions of the hooks; limiting wheels are placed in the hooklimiting track; the hook limiting track is parallel to the conveyingchain; the hook adjustment stop piece is mounted in the hook limitingtrack; the hook adjustment stop piece is close to a tail end of theconveying chain; the hook limiting track is configured to adjustputting-down and retraction of the hooks according to a distance betweenthe track and the conveying chain; the hook adjustment stop piece isconfigured to control a shape of the hook limiting track at a tail endposition of the conveying chain so as to control separation of the hooksfrom the unmanned aerial vehicle.
 4. The apparatus according to claim 1,wherein the automatic unmanned aerial vehicle loading apparatus consistsof main landing gear supporting plates, wing supporting plates, wingfront limiting plates, wing rear limiting plates and height and angleadjustment mechanisms; the main landing gear supporting plates areconnected with the structural framework of the unmanned aerial vehiclestorage apparatus through a rotating mechanism; contact blocks forunlocking the tackles are arranged below the main landing gearsupporting plates; the wing supporting plates are connected with themain landing gear supporting plates through the height and angleadjustment mechanisms; the wing front limiting plates are connected tofront sides of the wing supporting plates; the wing rear limiting platesare connected to rear sides of the wing supporting plates.
 5. Theapparatus according to claim 1, wherein the tackle consists of a tacklebody, carrier structures, rear limiting mechanisms and front limitingmechanisms; the tackle body is mounted on the catapult; a lock holebutted with a locking apparatus is formed in a rear portion of thetackle body; the carrier structures are mounted at an upper portion ofthe tackle body; the rear limiting mechanisms consist of limiting baffleplates driven by gears and racks, limiting slots and reset springs; therear limiting mechanisms are mounted at rear portions of the carrierstructures; the front limiting mechanisms consist of limiting hooksconnected with the carrier structures through rotating shafts, movablestop pieces for lifting the limiting hooks, and reset springs; the frontlimiting mechanisms are mounted at middle portions of the carrierstructures.
 6. The apparatus according to claim 1, wherein the rotarytube-type multi-track unmanned aerial vehicle catapult consists of arotating shaft mechanism, a rotating shaft driving apparatus, thecatapults, tackle locking apparatuses, reset winches and tackle bufferapparatuses; all the catapults are uniformly distributed on the rotatingshaft mechanism, and are driven to rotate by the driving apparatus; thetackle locking apparatuses are mounted at start ends of the catapults;the tackle locking apparatuses consist of locking structure main bodiesprovided with contact plates and lock catches, and reset springs; thereset winches are mounted at the start ends of the catapults, and areconnected with the tackle bodies through ropes; and the tackle bufferapparatuses are mounted at tail ends of the catapults, and areconfigured to stop motion of the tackles.
 7. The apparatus according toclaim 1, wherein the unmanned aerial vehicle is a folding unmannedaerial vehicle; lifting hooks butted with the hooks of the conveyingchain are mounted at leading edges of wings of the unmanned aerialvehicle; protruding features butted with rear limiting mechanisms, andhooks butted with front limiting mechanisms are mounted on loweraerofoils of the wings of the unmanned aerial vehicle; limiting barrierstrips matched with wing supporting plates of the automatic unmannedaerial vehicle loading apparatus are also mounted on the lower aerofoilsof the wings of the unmanned aerial vehicle.
 8. A method for continuouscatapulting of unmanned aerial vehicles, comprising: realizing buttingand separation of the unmanned aerial vehicle and a unmanned aerialvehicle conveying apparatus through cooperation of a conveying chain,hooks and a hook limiting track; conveying and butting, by an automaticunmanned aerial vehicle loading apparatus, the unmanned aerial vehicleto carrier structures of a tackle through rotation of a certain angle torealize loading of the unmanned aerial vehicle; and catapulting, by acatapult of a rotary tube-type multi-track unmanned aerial vehiclecatapult, the unmanned aerial vehicle, and automatically resetting thecatapult.
 9. The method according to claim 8, wherein a butting andseparation process of the unmanned aerial vehicle and the unmannedaerial vehicle conveying apparatus comprises: the hook limiting trackercontrols the hooks to extend out and be put down a certain distance neara start end of the conveying chain in a moving process along with theconveying chain according to a distance between the hook limiting trackand the conveying chain, and then to rise up and be retracted graduallyso as to facilitate butting of the hooks and lifting hooks at leadingedges of wings of the unmanned aerial vehicle and lift the wings of theunmanned aerial vehicle; when the hooks hooked with the unmanned aerialvehicle move close to a hook adjustment stop piece on the hook limitingtrack along with the conveying chain, the hook adjustment stop piecerises up, and continuous motion of the hooks enables their limitingwheels to move onto the risen hook adjustment stop piece; by this time,the conveying chain stops moving, and the lower aerofoils of the wingsof the unmanned aerial vehicle are just in contact with wing supportingplates of the automatic unmanned aerial vehicle loading apparatus, andare flush with the wing supporting plates through limiting barrierstrips; later, wing front limiting plates and rear limiting platesrotatably rise up to clamp the wings, and the hook adjustment stop pieceis quickly put down after completion of clamping to enable the hookslifted thereon to drop down vertically and be separated from theunmanned aerial vehicle lifting hooks; when the hooks without theunmanned aerial vehicle are close to the hook adjustment stop piece, thehook adjustment stop piece does not rise up, so that the hooks directlymove along with the conveying chain and drop down vertically.
 10. Themethod according to claim 8, wherein a loading process of the unmannedaerial vehicle comprises: protruding features on lower aerofoils ofwings of the unmanned aerial vehicle are in contact with limiting slotsof rear limiting mechanisms, and press down the limiting slot and areset spring below the limiting slot to drive racks to move downwards,so that gears matched with the racks start to rotate to drive limitingbaffle plates to rise up; when the protruding features press down thelimiting slots to be in contact with upper surfaces of the carrierstructures, the limiting baffle plates rise up to be in contact withrear surfaces of the protruding features; hooks on the lower aerofoilsof the wings of the unmanned aerial vehicle are in contact with limitinghooks of front limiting mechanisms, so that the limiting hooks rotatedownwards along rotating shafts, and press down movable stop pieces andthe reset springs below the limiting hooks; after the unmanned aerialvehicle completes butting with the tackle, wing front limiting platesand rear limiting plates of the automatic unmanned aerial vehicleloading apparatus counter-rotate respectively to release the wings andbe reset, and later, the automatic unmanned aerial vehicle loadingapparatus rotates downwards to be separated from the unmanned aerialvehicle; a process of catapulting, by the catapult of the rotarytube-type multi-track unmanned aerial vehicle catapult, the unmannedaerial vehicle, and then automatically resetting the catapult includes:after the unmanned aerial vehicle on the carrier structures spreads, andan engine has a sufficient thrust, the automatic unmanned aerial vehicleloading apparatus rotates downwards till contact blocks below mainlanding gear supporting plates are in contact with and press downcontact plates of a tackle locking apparatus, so that a lock catch isseparated from a lock hole in a tackle body of the tackle, and thetackle is released; after the unmanned aerial vehicle is completelyseparated from the carrier structures, the automatic loading apparatuscounter-rotates to be reset, and then a rotating shaft driving apparatusis started to drive a rotating shaft mechanism to rotate, so that acatapult completing catapulting is deviated from a catapulting positionat a top portion, and another reset catapult is conveyed into thecatapulting position; the rear limiting mechanisms and the frontlimiting mechanisms on the tackle are reset, and the tackle is lockedagain; after the other reset catapult is conveyed into the catapultingposition, the conveying chain is started again to convey the nextunmanned aerial vehicles onto the automatic unmanned aerial vehicleloading apparatus.